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[ROS2] How to solve tf2 error: extrapolation into the future?

asked 2022-03-16 08:35:22 -0500

oferbar gravatar image

updated 2022-03-16 08:36:35 -0500

I am trying to use a tf2 buffer with no luck. The provided error is as follow:

" Could not transform map to base_link: Lookup would require extrapolation into the future. Requested time 1647436717.509095 but the latest data is at time 4076.014000, when looking up transform from frame [map] to frame [base_link] "

I noticed a huge different between latest and requested time, but couldn't find any example to such occasion online.

What makes the second timer to start counting from such a low number, and how can i change it?

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answered 2022-03-16 13:04:59 -0500

tfoote gravatar image

The most common reason for this is that some of your system is using simulated time and the other parts of your system are not. (Simulated time typically starts at 0 seconds and counts up. System time is counting since 1970)

The design article is here: https://design.ros2.org/articles/cloc...

Make sure that you're setting using_sim_time to true on all your nodes not just some.

For others who run into this you also will want to consider using_sim_time when playing back a bag file with the clock.

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Asked: 2022-03-16 08:35:22 -0500

Seen: 305 times

Last updated: Mar 16 '22